add hitl setup and docs

docs/real_world/HITL/index.md

@@ -0,0 +1,25 @@
+# Hardware-In-The-Loop Simulation
+We configure a multi-machine HITL simulation, where a powerful desktop computer runs Isaac Simulator and rendering, and one/multiple jetson compute boards run robot-specific programs (planning, mapping, etc.).
+## Requirement
+A desktop computer configured according to [here](/docs/getting_started). One/multiple ORIN AGX/NX configured according to [here](/docs/real_world/installation/).
+
+## Communication
+All machines should connect to the same network. In our test, all machines are connected to the same router with ethernet cables. Ensure that all machines are able to `ping` others' IP addresses.
+
+### Run
+On the desktop computer, under your Airstack folder, run
+```
+docker compose up isaac-sim-hitl
+```
+You should see the isaac simulator being launched.
+On the Jetson computer, run
+```
+docker compose up robot_l4t
+```
+Once the scene is played in the Isaac simulator, the rviz GUI on the Jetson should start displaying sensor data, which means the connection is successful. 
+
+Screen record of desktop computer:
+<iframe src="https://drive.google.com/file/d/1sNkEattgDyBAI9xFPVQsXn8sRi6gYQSG/view?usp=sharing" width="840" height="480" allow="autoplay" allowfullscreen="allowfullscreen"></iframe>
+
+Screen record of Jetson computer:
+<iframe src="https://drive.google.com/file/d/19S8Yceq8t2FPubN8Mly003Up1AbLzCA8/view?usp=sharing" width="840" height="480" allow="autoplay" allowfullscreen="allowfullscreen"></iframe>

docs/real_world/installation/index.md

@@ -1 +1,29 @@
-# Installation on Hardware
+# Installation on ORIN AGX/NX
+
+We have tested installation and running robot container on Jetson ORIN AGX/NX and Ubuntu 22.04.
+
+## Setup
+Ensure you have docker installed.
+### Clone
+
+```
+git clone --recursive -j8 [email protected]:castacks/AirStack.git
+```
+Checkout to the correct branch:
+```
+git checkout jkeller/jetson_36.4
+```
+## Configure
+
+Run `./configure.sh` and follow the instructions in the prompts to do an initial configuration of the repo.
+
+Pull the correct image:
+```
+docker compose pull robot_l4t
+```
+
+## Run
+```
+docker compose up robot_l4t
+```
+You should be able to see the rviz GUI being launched.

mkdocs.yml

@@ -107,6 +107,8 @@ nav:
       - docs/real_world/index.md
       - Installation on Hardware:
           - docs/real_world/installation/index.md
+      - HITL Test:
+          - docs/real_world/HITL/index.md    
   - About: docs/about.md
 plugins:
   - search

simulation/isaac-sim/docker/docker-compose.yaml

@@ -1,64 +1,74 @@
+x-common-isaac-sim: &common-isaac-sim
+  image: &image_tag ${PROJECT_DOCKER_REGISTRY}/${PROJECT_NAME}:v${PROJECT_VERSION}_isaac-sim
+  build:
+    context: ../
+    dockerfile: docker/Dockerfile.isaac-ros
+    tags:
+      - *image_tag
+  container_name: isaac-sim
+  entrypoint: "" # override the default entrypoint with nothing
+  # for some reason the tmux session manager only works when isaac is running in tmux
+  command: >
+    bash -c " tmux new -d -s isaac 
+    && tmux send-keys -t isaac \"ros2 launch isaacsim run_isaacsim.launch.py gui:=${DEFAULT_ISAAC_SCENE} play_sim_on_start:=${PLAY_SIM_ON_START}\" ENTER 
+    && sleep infinity"
+  # Interactive shell
+  stdin_open: true # docker run -i
+  tty: true # docker run -t
+  ipc: host
+  privileged: true
+  env_file:
+    - ./omni_pass.env
+  environment:
+    # NVIDIA stuff
+    - ACCEPT_EULA=Y
+    - DISPLAY
+    - QT_X11_NO_MITSHM=1
+    # ROS2 stuff
+    - RMW_IMPLEMENTATION=rmw_fastrtps_cpp
+    - FASTRTPS_DEFAULT_PROFILES_FILE=/isaac-sim/fastdds.xml
+  deploy:
+    # let it use the GPU
+    resources:
+      reservations:
+        devices:
+          - driver: nvidia # https://stackoverflow.com/a/70761193
+            count: 1
+            capabilities: [gpu]
+  volumes:
+    # display
+    - $HOME/.Xauthority:/root/.Xauthority
+    - /tmp/.X11-unix:/tmp/.X11-unix
+    # isaac sim stuff
+    - ~/docker/isaac-sim/cache/kit:/isaac-sim/kit/cache:rw
+    - ~/docker/isaac-sim/cache/ov:/root/.cache/ov:rw
+    - ~/docker/isaac-sim/cache/pip:/root/.cache/pip:rw
+    - ~/docker/isaac-sim/cache/glcache:/root/.cache/nvidia/GLCache:rw
+    - ~/docker/isaac-sim/cache/computecache:/root/.nv/ComputeCache:rw
+    - ~/docker/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw
+    - ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw
+    - ~/docker/isaac-sim/documents:/root/Documents:rw
+    - ./user.config.json:/root/.local/share/ov/data/Kit/Isaac-Sim/4.2/user.config.json:rw
+    - ./ui.py:/isaac-sim/kit/exts/omni.kit.widget.nucleus_connector/omni/kit/widget/nucleus_connector/ui.py:rw
+    # developer stuff
+    - .dev:/root/.dev:rw # developer config
+    - .bashrc:/root/.bashrc:rw # bash config
+    # code
+    - ../sitl_integration/kit-app-template/source/extensions/:/root/Documents/Kit/shared/exts/
+    - ../sitl_integration:/sitl_integration:rw
+    - ../sitl_integration/inputrc:/etc/inputrc
+    - ../sitl_integration/config:/root/.nvidia-omniverse/config:rw
+    - /home/airstation-04/isaac_people_scripts:/isaac-sim/isaac_people_scripts:rw 
+
 services:
   isaac-sim:
-    image: &image_tag ${PROJECT_DOCKER_REGISTRY}/${PROJECT_NAME}:v${PROJECT_VERSION}_isaac-sim
-    build:
-      context: ../
-      dockerfile: docker/Dockerfile.isaac-ros
-      tags:
-        - *image_tag
+    <<: *common-isaac-sim
     container_name: isaac-sim
-    entrypoint: "" # override the default entrypoint with nothing
-    # for some reason the tmux session manager only works when isaac is running in tmux
-    command: >
-      bash -c " tmux new -d -s isaac 
-      && tmux send-keys -t isaac \"ros2 launch isaacsim run_isaacsim.launch.py gui:=${DEFAULT_ISAAC_SCENE} play_sim_on_start:=${PLAY_SIM_ON_START}\" ENTER 
-      && sleep infinity"
-    # Interactive shell
-    stdin_open: true # docker run -i
-    tty: true # docker run -t
-    ipc: host
-    privileged: true
     networks:
       airstack_network:
         ipv4_address: 172.31.0.200
-    env_file:
-      - ./omni_pass.env
-    environment:
-      # NVIDIA stuff
-      - ACCEPT_EULA=Y
-      - DISPLAY
-      - QT_X11_NO_MITSHM=1
-      # ROS2 stuff
-      - RMW_IMPLEMENTATION=rmw_fastrtps_cpp
-      - FASTRTPS_DEFAULT_PROFILES_FILE=/isaac-sim/fastdds.xml
-    deploy:
-      # let it use the GPU
-      resources:
-        reservations:
-          devices:
-            - driver: nvidia # https://stackoverflow.com/a/70761193
-              count: 1
-              capabilities: [gpu]
-    volumes:
-      # display
-      - $HOME/.Xauthority:/root/.Xauthority
-      - /tmp/.X11-unix:/tmp/.X11-unix
-      # isaac sim stuff
-      - ~/docker/isaac-sim/cache/kit:/isaac-sim/kit/cache:rw
-      - ~/docker/isaac-sim/cache/ov:/root/.cache/ov:rw
-      - ~/docker/isaac-sim/cache/pip:/root/.cache/pip:rw
-      - ~/docker/isaac-sim/cache/glcache:/root/.cache/nvidia/GLCache:rw
-      - ~/docker/isaac-sim/cache/computecache:/root/.nv/ComputeCache:rw
-      - ~/docker/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw
-      - ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw
-      - ~/docker/isaac-sim/documents:/root/Documents:rw
-      - ./user.config.json:/root/.local/share/ov/data/Kit/Isaac-Sim/4.2/user.config.json:rw
-      - ./ui.py:/isaac-sim/kit/exts/omni.kit.widget.nucleus_connector/omni/kit/widget/nucleus_connector/ui.py:rw
-      # developer stuff
-      - .dev:/root/.dev:rw # developer config
-      - .bashrc:/root/.bashrc:rw # bash config
-      # code
-      - ../sitl_integration/kit-app-template/source/extensions/:/root/Documents/Kit/shared/exts/
-      - ../sitl_integration:/sitl_integration:rw
-      - ../sitl_integration/inputrc:/etc/inputrc
-      - ../sitl_integration/config:/root/.nvidia-omniverse/config:rw
+
+  isaac-sim-hitl:
+    <<: *common-isaac-sim
+    container_name: isaac-sim-hitl
+    network_mode: host # Use host networking